Autonomous mobile device

Abstract

The present disclosure provides an autonomous mobile device. The autonomous mobile device includes a device main body, provided with a buffer component on a front side of the device main body; a line laser module, arranged on at least one of the device main body and the buffer component and located between the buffer component and the device main body, wherein the line laser module includes a camera device configured to capture an environmental image and a first window is arranged at a position on the buffer component corresponding to the camera device to enable external ambient light to enter the camera device; and an infrared fill-in lamp, arranged on the buffer component.

What is claimed is: 
     
         1 . An autonomous mobile device, comprising:
 a device main body, provided with a buffer component on a front side of the device main body;   a line laser module, arranged on at least one of the device main body and the buffer component and located between the buffer component and the device main body, wherein the line laser module comprises a camera device configured to capture an environmental image, and a first window is arranged at a position on the buffer component corresponding to the camera device to enable external ambient light to enter the camera device; and   an infrared fill-in lamp, arranged on the buffer component,   wherein the buffer component comprises a bump plate and an elastic member, the bump plate and the device main body are connected by the elastic member, and the bump plate is provided with a rubber cushion layer on an outside of the bump plate;   the line laser module is located on an inner side of the bump plate; and   the infrared fill-in lamp is arranged at the bump plate.   
     
     
         2 . The autonomous mobile device according to  claim 1 , further comprising:
 a filter, arranged in front of the camera device and configured to allow only infrared light to enter the camera device; and   a controller, arranged on the device main body, connected to the infrared fill-in lamp and the camera device, and configured to control the infrared fill-in lamp to turn on or off, and control a function of the device main body according to the environmental image captured by the camera device.   
     
     
         3 . The autonomous mobile device according to  claim 2 , wherein the line laser module further comprises:
 a fixed base, on which the camera device is arranged; and   a line laser emitter, arranged on the fixed base and located on at least one side of the camera device, wherein the line laser emitter is configured to emit a laser with a linear projection, and a second window is arranged at a position on the buffer component corresponding to the line laser emitter to enable the laser emitted by the line laser emitter to be emitted outwardly from the buffer component;   wherein the controller is connected to the camera device and the line laser emitter and configured to control the camera device and the line laser emitter to operate in coordination with each other.   
     
     
         4 . The autonomous mobile device according to  claim 3 , wherein the line laser emitter is in a movable connection with the fixed base, and/or the fixed base is a movable structure, to allow an orientation angle and a rotation angle of the line laser emitter to be adjustable. 
     
     
         5 . The autonomous mobile device according to  claim 4 , wherein:
 the fixed base comprises a body, an end portion and a connection element;   the camera device is arranged on the body, and the line laser emitter is inserted into the connection element via a through-hole of the connection element;   the line laser emitter is rotatably connected to the connection element to enable to adjust the rotation angle of the line laser emitter; and   the connection element is in a movable connection with the end portion to enable to adjust the orientation angle of the line laser emitter.   
     
     
         6 . The autonomous mobile device according to  claim 5 , wherein:
 the end portion is provided with a positioning groove; and   the connection element is provided with a convex structure, adapted to mate with the positioning groove and configured to be horizontally rotatable within the positioning groove to drive the line laser emitter to rotate relative to the end portion.   
     
     
         7 . The autonomous mobile device according to  claim 4 , wherein:
 the fixed base comprises a body, end portions and a connection part, the end portions being located on respective sides of the body and connected to the body through the connection part;   the camera device is arranged on the body, and the line laser emitter is arranged at the end portions;   the connection part is pivotally connected to the body to enable to adjust the orientation angle of the line laser emitter; and   the end portions are rotatably connected to the connection part to enable to adjust the rotation angle of the line laser emitter.   
     
     
         8 . The autonomous mobile device according to  claim 4 , wherein:
 the fixed base comprises a body, an end portion and a limiting part, the end portion being located on at least one side of the body;   the camera device is arranged on the body, and the line laser emitter is arranged at the end portion;   the end portion is rotatably connected to the body to enable to adjust the rotation angle and the orientation angle of the line laser emitter; and   the limiting part is arranged between the end portion and the body and configured to limit rotation of the end portion relative to the body.   
     
     
         9 . The autonomous mobile device according to  claim 4 , wherein:
 the fixed base comprises a body and end portions located on respective sides of the body;   the camera device is arranged on the body, and the line laser emitter is movably arranged at the end portions;   the end portions are pivotally connected to the body to enable to adjust the orientation angle of the line laser emitter; and   the line laser emitter is rotatably connected to the end portions to enable to adjust the rotation angle of the line laser emitter.   
     
     
         10 . The autonomous mobile device according to  claim 4 , wherein:
 the fixed base is provided with a mounting cavity comprising a first end and a second end, and a cross-sectional area of the first end is smaller than a cross-sectional area of the second end;   the line laser emitter is movably arranged in the mounting cavity, and the cross-sectional area of the first end is larger than a cross-sectional area of the line laser emitter;   a front end of the line laser emitter is close to the first end;   the line laser emitter is rotatable relative to the mounting cavity to enable to adjust the rotation angle of the line laser emitter; and   a rear end of the line laser emitter is configured to swing relative to the front end to enable to adjust the orientation angle of the line laser emitter.   
     
     
         11 . The autonomous mobile device according to  claim 3 , wherein:
 the line laser emitter is in a cylindrical shape and provided with a first stepped structure at a peripheral side of the line laser emitter;   the fixed base is provided with a mounting groove configured to mount the line laser emitter, and the mounting groove is provided with a second stepped structure on an inner wall of the mounting groove; and   the first stepped structure and the second stepped structure are adapted to mate with each other to limit movement of the line laser emitter in an axial direction.   
     
     
         12 . The autonomous mobile device according to  claim 2 , further comprising:
 a charging pile, adapted to be connected with or detached from the device main body, and comprising an infrared emitting device configured to emit an infrared signal;   the line laser module that further comprises a pile-return positioning device, configured to receive the infrared signal emitted from the charging pile; and   wherein the controller is connected to the pile-return positioning device and configured to control the device main body to dock with the charging pile based on the infrared signal received by the pile-return positioning device, and to emit an infrared signal to the charging pile in response to the device main body being successfully docked with the charging pile.   
     
     
         13 . The autonomous mobile device according to  claim 1 , further comprising:
 a device-control module, configured to control the autonomous mobile device to move based on obstacle position information and obstacle type information obtained from the environmental image.   
     
     
         14 . The autonomous mobile device according to  claim 13 , further comprising:
 a reminder device, connected to the device-control module to control the reminder device to emit an alert by at least one of audible and luminous modes to remind a user to clean an obstacle.   
     
     
         15 . An autonomous mobile device, comprising:
 a device main body, provided with a buffer component on a front side of the device main body;   a controller;   a line laser module, comprising a camera device and a line laser emitter, wherein the line laser module is arranged on the device main body and the controller is electrically connected to the camera device and the line laser emitter and is configured to control the autonomous mobile device according to an environmental image captured by the camera device; and   an infrared fill-in lamp, arranged on the buffer component,   wherein the buffer component comprises a bump plate and an elastic member, the bump plate and the device main body are connected by the elastic member, and the bump plate is provided with a rubber cushion layer on an outside of the bump plate;   the line laser module is located on an inner side of the bump plate; and   the infrared fill-in lamp is arranged at the bump plate.   
     
     
         16 . The autonomous mobile device according to  claim 15 ,
 wherein the controller is connected to the infrared fill-in lamp and configured to control the infrared fill-in lamp to turn on or off.   
     
     
         17 . The autonomous mobile device according to  claim 16 , wherein:
 the camera device is configured to capture a first environmental image in response to the line laser emitter being on, and capture a second environmental image in response to the infrared fill-in lamp being on; and   the controller is configured to determine a distance between a target object and the camera device based on the first environmental image, and the target object is identified based on the second environmental image.   
     
     
         18 . The autonomous mobile device according to  claim 17 , wherein:
 the camera device is configured to capture a third environmental image in response to the line laser emitter and the infrared fill-in lamp being both off; and   a corrected laser image is obtained based on a difference between pixels at respective positions in the first environmental image and the third environmental image, and the distance between the target object and the camera device is determined based on the corrected laser image.   
     
     
         19 . The autonomous mobile device according to  claim 18 , wherein:
 the first environmental image is captured by the camera device under a preset first exposure parameter;   the second environmental image is captured by the camera device under a second exposure parameter, and the second exposure parameter is determined based on a imaging quality and a corresponding exposure parameter of a previously captured second environmental image; and   the first exposure parameter comprises a first exposure time and/or a first exposure gain, and the second exposure parameter comprises a second exposure time and/or a second exposure gain.